Control mechanism for machine tools and the like



Feb. 18, 1936. I A. oBERHoFFKr-:N 2,030,890

CONTROL MECHANISM'FOR MACHINE TOOLS AND THE LIKE Filed April l, 1935 Sheets-Sheet -1 Feb. 18, 1936. A OBERHOFFKEN l2,030,890

CONTROL MECHANISM FOR MACHINE TOOLS AND THE LIKE Filed April l, 1933 4 Sheets-Sheet 2 I nven for @4/6 Xander Obefq//lfen UGH-om e495 Feb. 18, 1936. A. OBERHOFFKEN 2,030,890

CONTROL MECHANISM FOR MACHINE TOOLS AND THE LIKE Filed April l, 1935 4 Sheets-Sheet 3 @ffm 6 FZAPID l TQM/ERE: l FEED TQEDSE i FEED Irwemlor @fi/@Xander ber/70,7 lne/1 EJ du @elm Feb. 18, 1936. A. oBERHoFFKl-:N 2,030,890

CONTROL MECHANISM FOR MACHINE TOOLS AND THE LIKE Filed April l, 1933 4 Sheets-Sheet 4 In van for o/exander Oberhof/wn (Aornqys ratented vFeb. 18, 1936 UNITED STATES coN'rnoL'mcnnmssrroni-Macnmnfg* l TOOLSAND Alexander Oberhoil'ken,

Ingersoll Milling ford, lll.,

This invention relates generally to thev automatic control oi' machine tools and more particularly to the control of the drive mechanisms thereof for programming the relative movements between the tool and work supports in a machine tool so as to cause a series of movements of different character to occur automatically i.n a definite sequence predeterminedl by the character of the work to be machined.

The general object of the invention is to provide a program control mechanism oi' the above character which is simple and inexpensive in construction, which is reliable in operation and enables ahigh degree of accuracy to be obtained in the control of the machine tool movements, which is flexible in character and readily-adapta ble to a wide variety of machining operations, which may be adjusted quickly and Acheiaipiyftochange the character4 ot the cycle controlled .between the work and tool path is supplied, inthe present embodiment. by a multispeed reversible electric'motor I9 herein mounted l'on'. the" carriage I1 and acting through thereby, and which may be embodied ina' machine tool as a compact unitary controller. dis'-4 posed in an cut-of-the-way yet readily accessible pos/mom /The invention also resides in novel features of construction by which the control mechanism is adapted for governing the cyclic operation of motor driven actuators in a machine tool.

Other objects and advantages of theinvention will become apparentirom the following detailed description taken in connection with vtheaccompanying drawings, in which Figure l is a schematic view of a control system embodying the present invention applied to a typical machine tool set-up.

Fig. 2 is a diagrammatic view showing the different steps in the cycle deilned by the control mechanism shown in Fig. 1. f

Fig. 3 is an elevational view of the major' parts of the control mechanism. Y

Figs. 4, 5 and 6 are sectional views taken respectively along the lines 4 4, 5-5 and 6 6 of Fig. 3.

Fig. 7 is a view similar to Fig. l showing a different machine tool set-up.

Fig. 8 is a diagrammatic view of the cycle executed by the machine tool set-up shown in Fig. 7.

Fig. 9 is a view similar to Fig. 1 illustrating still another machine tool set-up.

Fig. 10 is a fragmentary perspective view of a modified form of the control mechanism shown in Fig. 9.

While the invention is susceptible of various modifications and alternative constructions, I have shown in the drawings and will herein de- 55 scribe in detail the preferred embodiments there- Machine comm:

a corporation oi' Illinois j j- Applicants -Apru 1, 1933, swarm." cc3,s93"1 f' 14 claims. A(ci. riz-239) l tion relative to the latter.

o1'. but it is to be understood that Ido not thereby intend to limit the invention to the specific forms disclosed, but intend-to cover all modiilcatlons and alternative constructions falling within the spirit and scope oi the invention as expressed in the appended claims. In the exemplary form shown in'Fig.v1, the lnvention is utilized to effect a series of relative movements between a work-piece I0 positioned on a support, II andal tool herein shown as a 11 milling cutter vI2 i'ast` on a spindle I 2 rotated by' an electric motor I4 through speed reduction gears I5. The spindlejis .iournaled in a sleeve I6 mounted on a carriage I1 for endwise reciproca- 'I'he carriage is slid- 1g ably supported on-ways'i for endwise reciprocationduring whichthe cutter. is' moved laterally o iits 'axis in a .rectilinear path. Power `for effecting relative feeding movementA supports along said at speed reduction gearing 2li to drive a pinion 2| meshing with a stationary rack bar 22. Rota- 25 tion of the motor in one direction or the other will thus cause the carriage to be advanced relative to the work in a corresponding direction and at a rate determined by the speed of the motor.

The automatic programming mechanism cOna0 templated by the present invention includes at least one primary control element or selector 0perable unidirectlonally throughl each machine cycle to eiect operation in a predetermined sequence of a set of pilot controls in turn govern- 35 ing the starting, stopping, direction and speed of the feed motor, the primary element being actuated by a secondary or timing element movable in one direction or the other according to the direction of relative movement oi' the tool and 40 work supports.

With the electric power drive and i'eed control above described, the pilot controls take the form of switches 23, 24 and 25 having their contact terminals connected by conductors 23, 23h, 45 24, 24h, 29 and 29b to the terminals oi the coils of magnetic switches or relays 21, 28 and 2l respectively. The relay 21, when energized, initiates and maintains operation of the motor I9 in a direction to advance the tool carriage I1 to 50 the right as viewed in Fig. 1. Reverse feed occurs when the relay 29 is energized. Relative movement between tool and work supports at diiferent speeds to eiect normal "feed" and rapid traverse", rapid approach", or a "quick return movement may be effected in different ways. This is accomplished in the present instance by varying the speed of the motor I8 by the action of the relay 28. low speed being obtained when either of the relays 21 and 28 is energized with the relay 28 deenergized. When the relay 28 is also energized, the motor runs at rapid traverse speed.

'I'he switches 28. 24 and 25 are arranged adjacent each other and each includes a stationary contact plate 3l insulated from and supported by a plate 82 which may be secured to the machine tool in any desired out-of-the-way yet accessible position. The movable switch contacts comprise bars 28 mounted on and yieldably urged by springs 34 toward insulating blocks 85 which in turn are secured to levers 86 mounted on a common pivot 81 and urged by individual springs J8* toward switch-closing positions. An additional similarly constructed switch 38 is also employed in the present embodiment and arranged to control a relay 89 by which the cutter drive motor i4 is started and stopped. The terminals of the relay coil are connected to the switch 88 by conductors 88* and 39".

In the present instance, the primary control element above referred to takes the form of a shaft 48 arranged to be operated with a step-bystep unidirectional movement, preferably. though not necessarily. through one revolution for each cycle of the machine controlled thereby. The shaft is rotatably supported by the plate 32 and secured to the shaft, as by suitable keys, is a series of cams 4l, 42, 48 and 44 axially spaced along the shaft so as to be disposed opposite the tapered ends 45 of the respective levers 8| which constitute the cam followers.

Each cam has one or more lobes which, when in engagement with the followers 86, hold the respective switches open, the switches being held closed by the springs 34 and 38* when followers encounter depressions of the cam surfaces. The circumferential length of each depression is detex-mined by the proportion of the machine cycle during which the switch controlled thereby is to be closed.. As will appear later, the stepping movements of the shaft 48 are of suiiicient length to move the leading surface or trailing surface of a cam lobe completely past the follower tip 45 and these surfaces are so arranged with respect to the rest positions of the shaft that the latter never stops with a tip 45 engaging one of these surfaces.

The secondary or timing element above referred to, by which the primary or selector element is actuated and the distances through which the tool or work support is moved in di'erent parts of the cycle thereby determined, comprises a member carrying a row of relatively adjustable control devices and mounted for movement in unison with the tool or work support as the case may be. While this member may, if desired, take the form of an elongated bar mounted on the carriage I1, it is shown herein as comprising a circular disk 46 fast on an end of a shaft 41 projecting from a housing 4|* which is rigid with and extends transversely of the plate 82 at one end of the shaft 48 whose axis intersects the shaft 41. To drive the shaft 41 in unison with the tool carriage, the other end has a gear connection with the shaft carrying the pinion 2| by which the carriage is reciprocated. With this arrangement, the disk 46 will turn in one direction or the other according to the direction of ro.

tation of the motor I8 and at a rate corresponding to the speed of the latter.

In the present instance, the control devices above referred to are in the form of dogs 48 arranged around the periphery of the disk 48 and spaced according to the control functions to be performed. Each dog comprises a block slotted on one side to fit over the edge of the disk with a flange 49 seated in an annular groove 88 of the disk. By tightening a screw I threading through a flange 62 of the block, the latter may be clamped rmly in any desired circumferential position. Projecting fromthe block parallel to the axis of the disk 46 is a projection 52 having side surfaces 64 which converge to a point 55.

Means is provided for advancing the cam shaft 48 through a predetermined distance in one direction as each dog on the disk 58 passes a predetermined position regardless of the direction of movement of the disk. In the present embodiment, this means comprises a ratchet mechanism including a wheel 56 fast on the cam shaft 48 and having equally spaced teeth 51 which are adapted to be engaged by one end of a reciprocable pawl 58. The opposite end of the latter is pivoted at 58 upon a plunger 68 slidable endwise in a chamber disposed within the housing 4I` and extending transversely of the shaft 48. A spring 6i acts on the plunger to retract the pawl 58 which is urged by a spring 62 into engagement with the teeth 51. 'I'he end of a plunger 68 which projects from the open end of the chamber can'ies a roller 63 adapted to be engaged by the cam surfaces 54 on the dogs 48. Thus. as each dog passes the roller, the plunger is forced inwardly by engagement of the leading cam surface with the roller 68. 4During this movement, the pawl 58 engages one of the teeth 51 thereby advancing the shaft 48.

To reduce the current burden on the control switches and provide for a high degree of ac curacy in the timing of the switch movements, with respect to the movements of the tool, means is provided for advancing the shaft 48 with a rapid or snap motiongthrough the final portion of each step after the shaft has been moved through a predetermined angle by the pawl 58. This means comprises a wheel 64 (Fig. 5) fast on the shaft 48 adjacent the wheel 56 and having equally spaced teeth 65 with side surfaces converging outwardly to points 86. The adjacent sides of the adjacent teeth converge inwardly to form notches terminating at points 61 which determine the different rest positions of the shaft 48. Power for thus advancing the shaft in the final portion of its movement is supplied by a compression spring 68 acting between an adjustable stop 68 and a plunger 18 having cam surfaces 1I which converge to a point 12 and bear against the teeth 65.

It will be apparent that when the shaft 48 is at rest, the point 12 of the plunger 18 will be seated between two of the teeth on the wheel 64 as shown in Fig. 5. the pawl 68 being then withdrawn behind one of the teeth 51 as Shown in Fig. 6. Now, as a dog 48 on the disk 46 engages the roller 63 upon movement in either direction, the leading surface 54 of vthe dog will press the roller and the plunger 68 inwardly whereupon the pawl 58, acting on the wheel 56, will advance the shaft 48 and the wheel 84 thereon. During the advance of the shaft 4I.

the leading surface of one tooth 65 cams the vnumber of: stepping'movementsare, to to denne `one cycle of the machineand is; terminated the y'sliaft'.

terrupted, that is,- before the point 55 on the dog passes overthe center ofthe roller 63, the point 1, on the tooth 65 passes over-center or beyond Ithe point l2 on the plunger spring .Il is released andthe upon the trailing; surfaceof the engaged tooth lll whereupon the ,bfuvflit A -quick .advance ofi-'the ywill occur as above -uescnbed [each ,timei,on'ojof' the dogs 4a.

surrooesznon 'the-dog. 'inns woyj, a donmie the shaft during-each step one ormorejof the cams on the shaft may act to open or close thecorrespondingy control switches, although itfwill be seen that certain oi' the steps may'be mere idle motions.

/l/ For some machine tool set-ups, it may be desirable to eifect a cross-feedhof the tool inthe course of the cycle. vThis may be accomplishedfif 'desired, by hydraulic -feed` 'mechanism controlled by a cam Non the shaft. in' proper timed relation to the machine cycle.l In the illustrative n on embodiment shown in Fig; `l, the sleeve i0 supporting thetool spindle II is mounted on the carriage for `endwise movement under the action of a piston 'il within .an hydraulic cylinder 1l adapted to besupplied with nuld maintained under A e pressure by e.v pump 1B. V'111e cam 13 is rarranged to define diiferent parts of a.

to actuate a follower Il connected to the movable member of a pilotvalve 1l controllingv admission oi' the'cfluid to. opposite "ends of t'checylinder .16.' When the follower is in engagementmwith a lobe vnl on'thecam; nulo is.dumped-gto:thelrorword end ofwevcvimdefztana sieve-remco' y asatnstaatopltpcsitic fl for part whereupon.' c c automatlcall miaf position de stop 82. ff l" The operation of `the milling 'Operation' illustrated in 1F18. 1 in which Itwo spaced padssiand'sl onthework piece lil .are roughmilled as'thecutte'r is advanced horizontally infone, direction "andflnished in the reverse movement.` of the cutter. For this work, the shaft is-arranged to be advancedin eight steps',4 indicated by the f numerals! lin Fig; 2.

(l) ai rapid approach' of theitool'tolthe. nrstjpa'd n, (2) feed across this pad,- (3) rapid traverse to the pad Il, (4) feed across the'latten, (5)v iidvanceofV the vtool for' thesecond cut and reversal y oi' theli'eed back across the pa'dvjl, (6)' rapid traverse to the first pad,z (7)' feed across vthe latter,y and (8) rapid traverse back-'to startingposltion. For

this oy'oie, ave dogs w, ash; glad and w are spaced around the diskft-as shown in Fig. 1, corresponding to'the distances through i which the tool is moved. in theflrst four parts'of the machine cycle, the' same dogs-acting to control the' remainder of thefcycle.' 'The shape, of the ,diierent cams will become apparent-from thelfollowing description of the operation.; 5.

it "be assumedijthat thev parts lare instart-y plunger 'il,.acting pressed lsurface ,ssumediihe'rsised portion."

to the fact that the v lthus be advanced to the right land the disk l turned in beadvancedslowly during'which'a leading surface on' oneof theteethftl 'presses ltliefilluxiger ,'ll 'outwardly thereby compressing Aja-the plunger passes overfcenter vjvithfrespeci:

' gwerdlylmder'the action/ ofthe and, mins as .upontheftre ,r-j 'f '1ftooth, causesthe shafts!" c y control mechanism will now bedescribedwith reference tothe .typicall controlling the'switoh 23 fa`depres'sion 8s thereby so tha'tfthe relay remains energized independentcycle. as follows:v

-gthe 'control of th 'portions Il Il oftherespective-cams 4| and u. -mef ist olea bysengagementfof .itsfj followeri# jfacdevmuohio at the unesfufmd u, when Aeither of- -therelays'gll and-2sI is Energintion 10 Under the I mldins e Ime-valve" 1lv .w mom hin the. cuttenmpporting sleeve' 1s the stopv ju. 'rnogdiox um positioooowithftne dogl'lengem .themller nenti" del pressing the plungerr Il, hav- -ingbeen retracted in thev previous y a tooth ll.- Toinitiatethe cycle. a 'ne to pick up manually .operableswitch Il c v is held 'closed by the operator, short-circuiting the menziona energizing" the relay '21 to initiate operatioof the feed motor il atrapid'traverse speedowing The starting circuit extends from the' powerline Ll through' conductors 21! 23% the 'Switch 8l; conductorlathe coil of the-'relay' 21,'con ductor 21" to the line. IP. 'l'he'carriagey Il'will as Viewd 1n Fig. 30 unison in a`-clock.

,wise direction. Inthe initial movment'of the disk, the'dog i acts on theroller causing an idle :inward motion ,of the pawlil. th'e dog'pas'ses the roller, the pawlv is retracted and 35 finally dropsin behindthe next tooth 51.

the cutterlapproachesthe paciV lL'the dog el .on the 'disk' It engages `the .roller .lf3 causing "the Dewi-5l tobe actuated the'shaft 40 to e `spring 68.

to tooth-"the plunger` is ythrust infling 'surface'of the ahead of the pawl- Ilat `ai rapid. rate .m 'l1 hisf1ilrst step of the shaft movement; is completed asl the tapered f end'of the plunger becomes .-seatediinthe notch between the teeth 'of thejwheel el. the latA 5o ter orrapid part ofA this movement.' thelever 38 rides down the trailing end of a raised portionk $5 of the cam Il into ly oflthe switch 8l which may then be allowed to onenandlthe machine coo1 cycle triuspiaoed *rwithin the exclusive vcontrol )of the camshaft u..y A t. tno some time, the raised lportion sz ofthe cam `42 opensthe switch 24 deenergizing the relay 28y thereby introducing the resistances '28h in the `conductors v,leading to thexfeedmotor `i9 causing interruption of the rapid ltraverse feedv but continuing the .cutter vadvance at feed" speed. The jthird function performed in the quick.moveinent of the shaft 40 is to start the, cutter drive motor Il Awhich occurs ras thev lever f controlling the switch I'. rides of!v from araised portion 90 of thecam M into a depression -9 i.'

Y This completes a circuit from the line L1y through conductor Sgt-'a switch, con..

lductor 39?',jthecoil of the relay 39, to thelinelj.

e dog! engages the switch 14N-'is then closed. 25

closing the switch :a 55

`roller 63 as the cutter passes the Vpad 83. In the ensuing quick advance of the control shaft to its third rest position, the lever 36 of the switch 24 passes off from the raised portion 92 into a depression 93 allowing the switch to close which again initiates rapid traverse. Slow feed of the cutter across the pad 84 takes place in the fourth part of the cycle which is initiated by opening of the switch 24 by the lobe 94 of the cam 42 in the third step of the cam shaft movement which is caused by the action of the dog 48d as the cutter approaches the pad 84.

At the remote end of the pad 84, the dog 48 becomes effective to advance the shaft 48 in its fourth step during which the forward feed control switch 23 is opened as the lever 35 thereof encounters the leading edge 95 ofthe cam lobe 85. Also the follower 11 enters the depression 8| and moves the valve 18 to cause advance of the cutter sleeve I6 against the stop 82. 'I'he cutter is Ithus positioned for a second cut across the pads. In the same movement of the control shaft 48, the follower controlling the reverse feed switch 25 passes out of contact with the raised portion 86 of the cam 43 into a depression 96 thereby causing the relay 29 to be energized and the direction of the motor at "feed" speed to be reversed. The circuit is from the line L3, conductor 29, switch 25, conductor 29h, the relay coil. to the line L. The cutter is thus advanced back across the pad 84 in the fifth part of the machine cycle while the cam shaft remains in its fifth rest position with the switch 24 held open by the lobe 94.

After the pad 84 has been finished, the same dog 48d which caused the third step of the cam shaft movement engages the roller 63 and causes the fth movement of the shaft during which the switch 24 is closed to initiate rapid traverse as its follower enters a depression 91 of the cam 42, the reverse feed switch 25 remaining closed. The next step of the cam shaft movement occurs under the control of the dog 48 as the cutter approaches the pad 83 and in this movement, the switch 24 is opened by a cam lobe 98 thereby initiating the seventh part of the cycle to advance the tool at "feed speed across the pad 83. When the latter has been completed, the shaft 48 is advanced for the seventh time under the control of the dog 48h, a depression 81 of the cam 42 again initiating rapid traverse of the cutter.

In the approach of the cutter to starting position. the dog 48 causes the eighth and final step of the cam shaft movement during which the cam lobe 19 actuates the valve 18 to cause retraction of the cutter sleeve against the stop 88, the cams 4|, 43 and 44 open their respective switches 23, 25 and 38, stopping the feed and cutter drive motors I9 and I4 leaving all parts of the control mechanism positioned as shown in Fig. 1 and in condition for starting of another cycle of the machine after a new work-piece has been mounted on the table. 'I'he motor I9, it will be observed, is stopped with the dog 48* still in engagement with the roller 83.

To illustrate the manner of applying the present control mechanism to other types of machine tools, reference will now be made to Fig. 'l wherein the control is utilized to define a simple cycle of movement of a tapping tool |18 rotatably supported upon a horizontally movable head |1I. The tap is arranged to be rotated through gears |12 from a reversible motor |13 carried by the head. In the present instance, the motor also serves to move the head endwise at feed speed, which may be accomplished through speed reduction -gearing |14 driving the ring gear of a planetary differential |14 having an intermediate or driven member in the form of a nut |15 rotatable on a non-rotatable screw shaft |19 and held against endwise movement. Thus, when the other driving gear |15' of the differential is held against rotation, operation of the motor |13 in one direction or the other will cause corresponding rotation of the nut |15 about the shaft |19 resulting in movement of the head in a corresponding direction. Selective operation of the motor |13 in opposite directions is controlled by pilot relays |18 and I1-9 which actuate sets of switches |88 and |8I for connectingthe motor to power lines |82 in a. manner such as to cause rotation of the motor in one direction or the other according to which of the relays is energized.

In this embodiment, rapid approach and rapid return movements of the head are produced by operation of a supplemental reversible motor |83 simultaneously with the feed motor |13. To this end, the motor |83 is also mounted on the head with its shaft connected through speed reduction gearing to the gearll15' of the planetary differential. As will later appear, the motor |83 when in operation supplements the drive of the feed motor |13 and causes the head to be advanced in the same direction but at higher speed. Owing to the light burden imposed upon. the rapid traverse motor, it may be of small capacity and controlled without the use of relays.

As in the case of the set-up shown in Fig. 1. the cycle of relative movements between the tap |18 and the work-piece |11 is defined by a single cam shaft |84 arranged to be advanced step-bystep by a ratchet mechanism |85 constructed and held in its different rest positions in the same manner as the cam shaft 48 above described and actuated by dogs clamped to a rotary disk |89. To drive the disk in unison with the tap, it is herein fast on a shaft |81 geared to a shaft |88 which is rotatably mounted on the head I1| and carries a worm-wheel |89 meshing with the stationary screw |16. In the feeding movement of the head, the wheel |88 rolls along the shaft |18 turning the disk |88 at a speed and in a direction corresponding to that of the head.

To define the simple cycle illustrated in Fig. 8, the shaft |84 has four cams |98, I9I, |92 and |93 thereon acting upon suitable followers to actuate switches |94-and |95, |96 and |91 respectively during the quick advancing movements of the cam shaft. The switch |94 is interposed in a conductor |98 'extending from one power lead to a switch |99' having a terminal connected to one terminal of the relay |18, the other terminal of the latter extends to another power lead through a manually operable normally closed switch 288. The relay will thus be maintained energized when both of the switches |94 and |99 are closed. The lswitch |99 is actuated by the armature of the relay,` being closedwhen the relay is energized. The relay may be energized independently of 'the switches |94 and |99 by closure of a manually operable switch 28| interposed in the relay circuit in parallel with the switches |94 and |99. The circuit for the relay coil |19 extends through the switch 288 and the switch |96 actuated by the cam I9 The switches |99 and. |91 are interposed respectively in two circuits fori the rapid traverse motor |83 respectively extending through the relay switches |80 and |8l. Thus, the motor |83 can operate to cause rapid approach of the head only when the relay |18 is energized, and the quick return of the head can occur only when the relay |19 is energized. For this reason, the switches |96 and |91 may be opened and closed simultaneously and by the same cam if desired.

Assuming the parts to be positioned as shown in Fig. 7, the cycle illustrated in Fig. 8 is executed in the following manner, the switches |96 and |91 having been closed in the movement of the cam shaft |84 in the preceding cycle. To start the cycle, the manually operable switch 20| is closed thereby energizing the relay |18 which closes the switches |80 completing the circuits for both of the motors |13 and |83 which start in directions to cause quick approach of the head toward the work and clockwise rotation of the disk |86, In the initial movement of the disk, a dog 202 becomes effective to actuate the ratchet |85 and advance the cam shaft one step. During the rapid portion of this step, the cam |90 allows the switch 94 to close thereby completing the holding circuit for the relay |18 through the locking switch |99.

As the head approaches the work, a dog 203 advances the shaft through its second step during which the switches |96 and |91 are opened thereby stopping the motor |83, which thereafter serves to hold the gear |15 of the planetary differential against rotation as the motor |13 thus continues in operation to feed the tap into the Work. When the tap has been entered to the proper depth, a dog 204 advances the shaft |84 and the cams |99 and |9| open the switch |94 and close the switch |95 deenergizing the relay |18 and energizing the relay |19. The direction of rotation of the motor |13 is reversed and retraction of the tap at feed speed initiated. In this movement, the dog 204 passes out of engagement with the ratchet without advancing the shaft |84.

After the tap has left the work, the dog 203 again becomes effective to advance the cam shaft whereupon the switches |96 and 91 are closed by the cams |92 and |93 and the motor |83 started in a direction to cause quick return of the head to starting position, In this movement, the dog 202 advances the cam shaft through an idle step of motion without changing the condition of the switches. When starting position is reached, a dog 205 actuates the ratchet, and in the ensuing motion of the cam shaft, the switch |95 is opened thereby interrupting the operation of the motors |13 and |83. The switches |96 and |91 remain closed in order to prepare the circuit for starting of the motors |13 and |83 at the beginning of the next cycle. If it is desired to interrupt the cycle at any time, this may be accomplished by opening the manually operable switch 200 thereby interrupting the circuit for whichever relay is then closed.

'I'he wide range of flexibility of the control systems above described will be apparent from a consideration of the different ways in whichthe mechanism may be changed in order to adapt the machine cycle to the character of the work to be done. Since the cams on the shaft or primary control element determine the character of the operations performed in the different parts of the machine cycle, the operations may be varied as desired simply by varying the arrangement and configuration of the cams. The initiation and termination of the different cycle, being determined by the dogs on the disk parts of the l or secondary control element, may readily be changed simply by varying the number and spacing of the dogs around the disk. The dogs are of simple construction and rigidly attached to the disk so that they will' operate reliably especially in view of the light motions which they are required to produce where, as in the present instance, the control functions are performed through the medium of pilot devices such as the relays or hydraulic valves. The accuracy with which the dogs operate is thus increased materially. In view of the use of the dogs as a secondary control unit acting through the medium of the independently operable primary control unit, each dog, by movement in opposite directions, may produce two stepping movements of the cam shaft and therefore be utilized to control two parts of the machine cycle. The control mechanism is thus admirably adapted for governing a machine cycle in which the machine element whose movement is controlledmoves out of and back into a predetermined starting position in eachmachine cycle.

'I'he control mechanism also forms a compact unit which may be located in any desired out-ofthe-way position upon the machine tool and yet can be rendered readily accessible to the operator for removal and replacement of the cam shaft and adjustment of the dogs. By virtue of the quick snap action by which each stepping movement of the cam shaft is completed, it will be apparent that a high degree of accuracy in the starting and stopping of the cutter movements may be obtained without necessitating formation of the leading and trailing surfaces of the cam projections with a correspondingly high degree of accuracy. To obtain this desired action, it is merely necessary to arrange the leading and trailing surfaces of the control cams so that these surfaces will pass their followers during the final or rapid portions of the cam shaft movements as above described. Such quick action is also desirable in that the deterioration of the control switches is reduced to a minimum.

In the exemplary machine tool cycles above described, it will be observed that the cutter support moves in a rectilinear and in opposite directions. The invention is also adaptable to machine cycles requiring cross-feeding of the tool and work supports in two or more directions. A typical machine tool setup involving such crossfeed is shown diagrammatically in Fig. 9, the work-piece having four pads |02, |03 and |04 to be milled, arranged in two vertically spaced horizontal rows.

As in the forms of the invention rst disclosed, relative movements between the work and tool supports and |06 are effected by electric motor driving means. Relative horizontal movement is produced by a reversible motor |01 acting through speed reduction gearing |08 to drive a screw |09 and thereby advance the work support along its ways in either direction according to which of two starting relays ||0 and is energized. Relative vertical movement is produced by a reversible motor ||2 controlled by relays ||3 and ||4 and arranged to drive a screw ||5 by which the carriage |06 is raised and lowered. The cutter, numbered I6, is rotated by a motor |1 controlled by a relay H8. For certain types of work, it may be desirable also to provide for movement of the tool or work at rapid traverse or other speeds in which case the motors |01 and ||2 would be equipped for multi-speed operation as in the exemplary set-up shown in Fig. 1.

1 the operation of the set-up shown in Fig. 9, the relays govy. the motors |91 and ||2 are controlled by `individual cam shafts I|9 and |29 mounted in the same way and driven with step-by-step movements through the medium of ratchet mechanisms |2| and |22 in the same manner as the cam shaft 49 above described. The mechanism |2| is actuated by dogs |23 on a disk |24 geared to the shaft |09 so as to turn in unison with the movement of the work-support |95. A disk |25 having dogs |29l and |29b thereon and geared to the shaft I I5 actuates the ratchet mechanism |22. In order that the control of the machine tool cycle may be transferred back and forth between the two cam shafts ||9 and |20 as will appear later, each of the relays ||0, III, ||3 and I |4 is controlled by two switches arranged in series circuit and actuated by cams on the shafts ||9 and |20 respectively. The circuit for the relay ||0 extends through a conductor |29 and two switches |21 and |29 controlled by cams |29 and |30 and the circuit for the relay includes a conductor |3| and switches |32 and |33 actuated by cams |34 and |35. The relay I3 is connected by a conductor |39 in series circuit with two switches |31 and |39 actuated by cams |39 and |40. Switches I4| and |42 actuated by cams |43 and |44 and connected by a conductor |45 control the relay ||4. To control the relay ||9, two switches |49 and |41 in parallel with each other are connected by a conductor |49 to the relay and actuated by cams |49n and |41".

'I'he operation of the control mechanism as arranged in Fig. 9 is as follows, assuming the cutter I9 to be in starting position with the cutter drive motor I I1 and the feed motors |01 and ||2 at rest by virtue of the switches |21, |32, |39, |49, |29, |41 and |4| being held open by their respective cams. To start the cycle, the operator closes a switch |49 which short-circuits the switch |32 establishing an energizing circuit for the relay whereupon the motor |01 is started in a direction to advance the work-support |05 horizontally and to the right. This circuit is from the line L1 through conductor ||I, the relay coil, conductor I49l, switch |49, conductors |49 and |||b to the line L2. In the initial movement of the disk |24 with the work, a dog |23 becomes active to advance the cam shaft I I9 one step during the rapid portion of which the switch |32 is allowed to close, completing the circuit for the relay I independently of the switch |49, the switch |33 being then held closed by the cam |35. This circuit is from the coil of the relay through the then closed switch |33, switches |32 and |33 connected in series and shunted across the switch |49 by conductors I3 I. In this same movement of the camshaft, a switch |49 is closed completing a circuit for energizing the relay ||9 and starting the cutter drive motor ||1. 'I'his switch and the coil of the relay are interposed in a conductor |49 between the power lines Lz and L.

The forward feed continues until the cutter has roughed the entire surfaces of the pads |0I and |92 whereupon a dog |23 causes the shaft ||9 to be advanced in the second step of its movement during which the cam |34 opens the switch |32 deenergizing the relay and interrupting the operation of the motor |01. Also, the cam |29 allows the switch |21 to close and the cam |44 opens the switch |42. In the same movement of the shaft II9, a cam |49 thereon allows the switch |39 to close thereby energizing the relay ||3 and startingthemotor ||2 in a directionto move the tool carriage |99 upwardly. The circuit is from thepowerlinelthroughthecoiloftherelay ||3, conductor ||3. the then closed switch |31. the switch |39, conductor |39l to the line L. The control of the cycle is thus transferred from the shaft ||9 tothe shaft L29.

After the cutter ||9 has covered the entire surface of the pad |93, a dog |29 on the disk |25 causes the shaft |29 to be advanced one step during the rapid portion of which movement the cam |39 opens the switch |31 interrupting the drive by the motor ||2. Cams |43 and |41' also allow the switches |4| and |41 to close. At the same time, a cam |30 allows a switch |29 to close which energizes the relay ||9 through the then closed switch |21 whereupon the motor |91 is started in a direction to move the work support horizontally and to the left as viewed in Fig. 9. The circuit is from the line L1 through the coil of the relay ||0, conductor |29, switch |21, conductor |21, switch |29, conductor |29 to the line L2. Now the cycle is again under the control of the shaft I I9. In the initial part of this movement, the dog |23h passes out of operative association with the ratchet mechanism |2| without advancing the shaft ||9. In the ilrst part of the movement, the dog |23l advances the cam shaft ||9 through an idle step of motion without changing the condition of the switches controlled thereby.

When the cutter has operated upon the entire surface of the pad |94 and passed out of engagement therewith, the dog |23 becomes active to advance the shaft I|9 through its fourth movement whereupon the switch |21 is opened by a cam |29 which interrupts the horizontal movement of the support |09. Simultaneously, the cam |44 allows the then open switch |42 to close which completes the energizing circuit for the relay ||4 through the then closed switch |4I, starting the motor I I2 in a direction to drive the tool support |09 downwardly. 'I'he circuit is from the line L1, the coil oi the relay ||4, 'conductor |45, the switches I4| and |42, conductor I|4l to the line L2. The cam |49l opens the switch |49 but the motor I1 continues to operate by virtue of the switch |41 being then closed. As the tool support |09 starts downwardly, the dog I 29* moves out of association with the ratchet mechanism |22 without actuating the latter. In the approach of the cutter to its starting position, a dog |29 advances the cam shaft |20 during which the switch |4| is opened to interrupt the operation of the motor ||2. In the same movement, the switch |41 is opened stopping the motor ||1 and the switch |33 is closed ready for the next cycle. 'I'hus the cycle is terminated automatically with the cutter in starting position and the dog |29h in contact with the roller of the ratchet mechanism |22.

While two or more control shafts may be employed, as shown in Fig. 9, to define a cycle involving cross-feeding, a substantial reduction in the number and complexity of the parts required may be obtained by arranging a single cam shaft for step-by-step advance by a plurality of ratchet mechanisms actuated respectively from the power operators producing the different directio feeds. Such an arrangement is shown in Fig. l0 wherein a cam shaft |50 is employed and arranged to make one revolution for each machine tool cycle during which the shaft traverses a plurality of steps corresponding to the different parts of the cycle, the same as with the set-up shown in Fig. 1.

Assumingthecycletobedenedisthesame 14 tenet m en' 'the -suai'ewnue the "dogsA no M step-L. `by-stcp tbroughthe oft; ar'p'awl i and t wheel iso,- eeen-.steper mevemeneby either set o'f `by, action1 f tionally and r step-,by-atepv v .fr'saidolm 1 "j .iandmeans-J-ineinem; a plm-aufs c enseidfmnt anus a ra of a spring-pressed plunger "Itiaoting jupon.. a toothed'wheel lll. todene the cycle exempnaedin rig. 9, vtuey cam shaft In' would be advanced ilrst by one pawl and then .thel other.

By combining the .controls as abovedescribed, the number `of switches, cams', and other parts required are reduced'toa minimum. In this way,

any number of cross-feedsmay vbe employed in the cycle which may be controlled simply by adding to the shown in Fig. 1, one set of dogs and aratchet mechanism for each crossfeed and arranging the cam shaft to control the proper switches.

I claim as my invention:

l. In combination with relatively movable supports and electric motor driven operating means for moving one' of said Supports in yopposite directions between two limit positions and at different speeds .in one of said directions, a control mechanism comprising a primary control element movable 'unidirectionally'in a succession of steps during eachcycle of relative movements between said supportsswitching means operated see lectively `by said element in its different respec tive positions and governing the direction'of operation of said operating means to deilne said cycle, said element acting when advanced to an intermediate position in one of said steps to control said operating means and change the speed of relative movement between Said supports, a secondary control member movable as an incident to the operation'jofand in a direction and at a speed correspondingto said operating means. a series of control devices spaced apart along said secondary element. according to the'distances" through which said'movable support is to be moved inl diil'erent parts of said cycle, and means operable upon engagement by each successive controldevice to advance said'prlmary element through` one step, one of said devices acting to advance said primary element when the movable support is intermediate said limit positions.

2. In combination with relatively movable supports and electric motor driving means for eil'ecting relative movements between said supports in different directions and at different speeds, a control mechanism comprising an element movable step-by-step through a plurality oi rest positions, switching means governing the starting, stopping and speed of operation of said driving means and variably controlling said driving means to produce -relative movements of different character in each of said positions to determine the direc-l tion and speed of relative movement between said supports, and means actuated according to the extent `of relative movements between saidsupports and operating vto advanceA said element through a plurality of rest positions during relae accenni-ehm; lshaft would actuatetl'vekswltchcai wise movablegphmge unidirectional rotation'.a*con nient by tin. for "advan' stopping 'and s peedof andv operating te denne afpredete'rmined cycle of 4 A control of: thefcha'racter set' forth having,` in combination with a pair ofrelav tively movable supports and power driving means movementforsaid movable support.

for eEecting-relative movement between said supports in opposite directions, a primary control element movable unidirectionall'yand controlling of movement of the dog memberwh'ereby to shift the plungerv member youi; of saidv path upon 'move'- ment of the dog past the plunger in either direction, and ratchet for advancing said primary velement `forwardly one step each time said plunger is shifted out of said path.

5 Av control mechanism of thecharacter set forth having,`in combinationwith a-pair of relatively movable supports Vand)converdriving means foractuating one'of said lullol'is, a control element movable unidirectionallywith a step-bystep movement anti:adapted''--vvlfien'-in different rest positions ,to 'control 'saiddriving lmeans selectively and therebycausefa predetermined cycle of relative movements between said supports to be executedv automatically, a rotaryv member geared to said movable support so as to rotate in unison with the ymovements thereof, a plurality of dogs rigid with but adjustable circumferentially of said member, and a ratchet mechanism operated intermittently in response to the successive dogs presented thereto and-operable to advance said element through its successive steps.

6. Mechanism for automatically controlling the relative movements between two supports in a machine toolor the like having, in combination. a rotarycontrol shaft, a member movable continuouslyduringrelative movement between said supports `and -havingia series of dogs thereon, a reciprocable pawl :arrangedtojheI moved in one direction by each ot. saiddogsirf airatchet wheel on said shaft-having teeth engaged b y seid pawl, e j series of radiall'y,-.proiectlngt'eeth oni said shaft angularlyv spaced intermediatesaid teeth and each .the leading sudfascist'onevv lastmentionedy teeth, said plunger acting on the trailing tooth surface under the action of said spring to cam said shaft forwardly as the tooth passes overcenter with respect to said plunger, and a plurality of control switches actuated by said shaft during the advance of the latter by said spring.

7. A control mechanism of the character set forth having, in combination with relatively movable supports and power driving means i'or moving one of said supports in a substantially rectilinear path, a control element, means movable in unison with said movable support along said path and operable to advance said element intermittently through a succession of steps, means actuated by said element controlling said driving means to determine the character of the feed between said supports, a power actuator for eilecting relative cross-feeding movement between said supports in a direction transversely oi' said path, means actuated by said element in one of said vsteps to initiate operation of said actuator', and

means actingautomatically and independently of said control element to render said actuator ineffectual after said supports have been crossfed through a predetermined distance.

8. A control mechanism of the character setv forth having, in combination with relatively movable supports and electric motor driving means for moving one of said supports, in a substantialiy rectilinear path, a control element, 'means movable in unison with said movable support along said path and operable to advance said element intermittently through a succession of steps, switching means actuated by said element controlling said driving means to determine the starting, stopping and direction of the feed between said supports, a second electric motor driving means operable to effect relative cross-feeding movements between said supports in a direction transversely of said first mentioned path, and switching means actuated by said element to control the operation of both of said driving means and cause a predetermined cycle of relative movements between said supports to be executed.

9. A control mechanism of the character set forth having, in combination with two relatively movable supports and two independent power operators operable to move said supports relative to each other along different paths extending transversely of each other, a control element movable unidirectionally in successive steps and operable to control one of said operators and produce relative movements of different characters between said supports along one of said paths, means actuated as an incident to the operation of said last mentioned operator to impart intermittent step-by-step movements to said element, a second control element movable unidirectionally in successive steps and operable to control the other power operator and produce a series oi' relative movements of different characters along the other of said paths, means actuated as an incident to the operation of said last mentioned operator to imp rt intermittentv step-by-step movements to sa d second control element, and means actuated by one oi' saidelements in one of its steps to initiate operation of the power operator by'which the other controi element is advanced.

l0. A control mechanism of the character set forth having, in combinatioirwi-th two relatively movable supports and twoindependently' operable power operators operable to effect relative movements between said supports along two different paths extending transversely of each other, a control element advanced intermittently and step-by-step as an incident to operation of one of said operators, a second controlelement advanced intermittently and step-by-step as an incident to operation of said other operator, and means actuated by one of said elements in one of its movements to interrupt operation of the operator causing such movement and initiate operation of the other operator.

1l. A control mechanism of the character set forth having, in combination with a pair of relatively movableV supports, two power operators having independently operable electric motor driving means to effect relative movements bej tween said supports along two different paths extending transversely of each other, a member carrying a plurality of variably spaced control devices and movable as an incident to the operation of one of said operators, a member carrying a plurality of control devices and movable as an incident to the operation of the other of said operators, a control element advanced step-bystep through a predetermined distance as the control devices on the respective members pass predetermined points, and switching means actuated selectively in the step-by-step movement of said element to govern the operation of both of said motor driving means to denne a cycle of relative movements between said supports.

12. A control mechanism for machine tools and the like having, in combination with a movable support and two electric motors operable singly or in combination to advance the support in opposite directions and at fast and slow speeds in at least one direction, a control element movable unidirectionally with a step-by-step movement, a member movable in unison with said support and having a series of control dogs thereon variably spaced according to 'the cycle to be executed by said support, means disposed in the path of said dogs and operable upon engagement by the successive dogs to cause movement of said element through a succession of rest positions, switching means actuated by movement of said element into one of said rest positions to govern the operation of said motors and change the movement of said support fromV said fast to said slow speed, said switching means acting in a subsequent movement of said element to interrupt the movement of said support by said motors.

13. In combination with two relatively movable supports and power driving means for effecting' relative movement therebetween in opposite directions and at different speeds, a control mechanism having. in combination, a member movable back and forth according to the relative movements between said supports, an element controlling the operation of said driving means and movable unidirectionally, a plurality of control devices carried by said member, follower positioned for operative association with said control devicesandoperable when actuated thereby to cause said element to be advanced one step, one of said devices passing said follower in both directions of relative movement between said supports whereby to advance said control element through two steps in a. complete cycle of movement of said supports back and forth between said limit positions.

14. In combination with two supports relatively movable in opposite directions between two limit positions and power means for etlecting relative movement between said supports in one direction at different speeds in at least one direction, a control mechanism comprising a' member movable in unison with the actuated support and having two terminal and one intermediate control devices mounted onsaid member in spaced relation for adjustment relative to each other, said terminal devices corresponding to'said limit positions, an element mounted for step-by-step unidirectional movement, means responsive to the movement of said element by the intermedin ate control device to control said power means and change the speed of relative movement between said supports, manually operable means by which the application of power from said driving means to one of said supports may be Iinitiated independently of said element, and

means actuated by said element upon movement by one of said devices to interrupt the drive and terminate the relative movement between the supports.

- ALEXANDER OBERHOFFKEN. 

